Download EtherCAT A1000 Installation Manual 140x182

YASKAWA AC Drive A1000 Option
1
Installation Manual
2
Type: SI-ES3 for A1000 Series
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4
To properly use the product, read this manual thoroughly
and retain for easy reference, inspection, and maintenance.
Ensure the end user receives this manual.
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8
ATTENTION!
This product can only be used on A1000 drives with
firmware version VSA901017 to VSA901099 installed.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
MANUAL NO. YEU TOEP C710616 99A
EN 1
Copyright © 2011 YASKAWA EUROPE GMBH
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form or by any means, mechanical, electronic, photocopying, recording, or otherwise,
without the prior written permission of YASKAWA. No patent liability is assumed with respect to the use of
the information contained herein. Moreover, because YASKAWA is constantly striving to improve its highquality products, the information contained in this manual is subject to change without notice. Every
precaution has been taken in the preparation of this manual. YASKAWA assumes no responsibility for errors
or omissions. Neither is any liability assumed for damages resulting from the use of the information
contained in this publication.
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YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
A1000 Option
EtherCAT
ENGLISH
Installation Manual
Table of Contents
1 Preface and Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Software Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 Receiving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5 EtherCAT® Option Components . . . . . . . . . . . . . . . . . 11
6 Installation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7 EtherCAT® Option Related Drive Parameters . . . . . . 22
8 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
9 Process Data Objects (PDO). . . . . . . . . . . . . . . . . . . . . 27
10 Fault Diagnosis and Possible Solutions . . . . . . . . . . 29
11 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
1 Preface and Safety
1
Preface and Safety
YASKAWA manufactures products used as components in a wide variety of industrial
systems and equipment. The selection and application of YASKAWA products remain the
responsibility of the equipment manufacturer or end user. YASKAWA accepts no
responsibility for the way its products are incorporated into the final system design. Under
no circumstances should any YASKAWA product be incorporated into any product or design
as the exclusive or sole safety control. Without exception, all controls should be designed to
detect faults dynamically and fail safely under all circumstances. All systems or equipment
designed to incorporate a product manufactured by YASKAWA must be supplied to the end
user with appropriate warnings and instructions as to the safe use and operation of that part.
Any warnings provided by YASKAWA must be promptly provided to the end user.
YASKAWA offers an express warranty only as to the quality of its products in conforming to
standards and specifications published in the YASKAWA manual. NO OTHER
WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability
for any personal injury, property damage, losses, or claims arising from misapplication of its
products.
 Applicable Documentation
The following manuals are available for SI-ES3 EtherCAT® Option card:
Option Card
YASKAWA AC Drive A1000 Option EtherCAT® Installation Manual
(this book)
Manual No.: YEU TOEP C710616 99A
Read this manual first.
The installation manual is packaged with the EtherCAT® Option and contains a
basic overview of wiring, settings, functions, and fault diagnoses.
YASKAWA AC Drive A1000 Option EtherCAT® Technical Manual
Manual No.: YEU SIEP C710616 99A
The technical manual contains detailed information.
To obtain the technical manual access these sites:
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
USA: http://www.yaskawa.com
Other areas: contact a YASKAWA representative.
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YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
1 Preface and Safety
For the drive setup, refer to one of the documentation listed below.
YASKAWA Drive
Refer to the manual of the drive this option card is being used with.
The instruction manual for the drive covers basic installation, wiring, operation
procedures, functions, troubleshooting, and maintenance information.
It also includes important information on parameter settings and how to tune the drive.
A Quick Start Guide is included with the drive. For the more detailed technical
manual, visit YASKAWA’s homepage.
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
USA: http://www.yaskawa.com
Other areas: contact a YASKAWA representative
 Terms
Note: Indicates supplemental information that YASKAWA highly recommends be
followed. Content identified by Note: is not related to personnel safety or
equipment damage safety messages.
EtherCAT® Option:
EtherCAT®:
NOID:
Online-DRV:
Online-DRVMB:
Online-PRG:
Host:
JTAG:
LED:
OPT, Option:
INV, Inverter:
PCB:
SPI:
FCS:
INVR:
ESI:
YASKAWA AC Drive SI-ES3 EtherCAT® option card
Ethernet for Control Automation Technology, an open Ethernet-based network
Network Option Interface Driver (YASKAWA Interface driver)
NOID processing mode, process (ctrl/resp) data is active
NOID processing mode, process resp data is active, ctrl data is on hold (Until MEMOBUS
process is complete)
NOID processing mode, NO process (ctrl/resp) data is active
YASKAWA drive 1000 series
Joint Test Action Group, an IEEE standard interface test port for test and programming
purposes
Light Emitting Diode
The unit described in this document
Host application to OPT
Printed Circuit Board
Serial Peripheral Interface Bus
Frame Check Sequence
Drive register number
EtherCAT Slave Information
 Registered Trademarks
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 5
1 Preface and Safety
• Other company names and product names listed in this manual are registered trademarks
of those companies.
 Supplemental Safety Information
Read and understand this manual before installing, operating, or servicing this option card.
The option card must be installed according to this manual and local codes.
The following conventions are used to indicate safety messages in this manual. Failure to
heed these messages could result in serious or possibly even fatal injury or damage to the
products or to related equipment and systems.
DANGER
Indicates a hazardous situation, which, if not avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation, which, if not avoided, could result in death or serious
injury.
CAUTION
Indicates a hazardous situation, which, if not avoided, could result in minor or moderate
injury.
NOTICE
Indicates an equipment damage message.

General Safety
General Precautions
• The diagrams in this section may include drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. The option board should be used according to the instructions
described in this manual.
• Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply
to all products to which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of the manual may be
changed without notice to improve the product and/or the manual.
• When ordering a new copy of the manual due to damage or loss, contact your YASKAWA representative or the
nearest YASKAWA sales office and provide the manual number shown on the front cover.
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YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
1 Preface and Safety
DANGER
Heed the safety messages in this manual.
Failure to comply will result in death or serious injury.
The operating company is responsible for any injuries or equipment damage resulting from
failure to heed the warnings in this manual.
NOTICE
Do not expose the drive to halogen group disinfectants.
Failure to comply may cause damage to the electrical components in the option card.
Do not pack the drive in wooden materials that have been fumigated or sterilized.
Do not sterilize the entire package after the product is packed.
Do not modify the drive circuitry.
Failure to comply could result in damage to the drive and will void warranty.
YASKAWA is not responsible for any modification of the product made by the user. This product
must not be modified.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 7
2 Product Overview
2
Product Overview
 About This Product
The EtherCAT® Option (Model: SI-ES3) is an option card designed to connect the
YASKAWA AC drive to an EtherCAT® network. Using this option card and an EtherCAT®
master can;
• operate the drive
• monitor the drive operation status
• read or modify drive parameters.
The SI-ES3 option provides instant connectivity to an EtherCAT® network for the
YASKAWA A1000 drive. The option contains support for the Velocity mode according the
CANopen Device Profile and Motion Control (DSP402) profile. It also contains YASKAWA
vendor specific CANopen objects based on the present CANopen option board specification.
The EtherCAT® Option supports the following communication profiles;
• DS 301 Ver. 4.02
• DSP 402 Ver. 3.0 Velocity Mode
Figure E.1
EtherCAT Conformance tested
 Applicable Models
The option can be used with the drive models in Table E.1.
Table E.1 Applicable Models
Drive Series
A1000
Drive Model Number
CIMR-A2A
CIMR-A4A
Software Version <1>
VSA901017 to VSA901099
<1> See “PRG” on the drive nameplate for the software version number.
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YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
3 Software Parts
3
Software Parts
 NOID - Network Option Interface Driver
This section explains communication sequences provided by the SI-ES3 option to startup
and control the drive.
Functionality provided:
• Startup/initialization of option with the drive.
• Option and drive compatibility/acceptance management.
• Process data parameter (register) mapping.
• Drive <--> Option re-initialization management (remap of process data).
• MEMOBUS channel.
• Error management.
• Drive <- -> Option basic control response data in Online-DRV mode.
• Drive <- -> Option operation mode.
 Drive/Option Identification Information
This section specifies the option/drive specific identification information exchanged during
power-up state of the application driver.
Table E.2 Drive/Option Identification Information
Setting
Value
Description
Option mode code, 4-digot ASCII string.
Option model code
0x53455333
Value: SES3=0x53455333
Used by drive to identify what kind of option that is
mounted.
Last 5 decimal digits of decimal option firmware revision.
Def: VST9242zz
Option software version
DEC: 24201
VST9 = A1000 option card
2 = European product
42 = Product code
zz = Minor revision
Drive model codes accepted by option NOID driver.
Drive model codes
ALL
If the provided drive model code does not match the list the
option will raise the OFx31 drive error.
Option will accept any drive model code.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 9
4 Receiving
4
Receiving
Please perform the following tasks after receiving the EtherCAT® Option:
• Inspect the EtherCAT® Option for damage.
If the EtherCAT® Option appears damaged upon receipt, contact the shipper immediately.
• Verify receipt of the correct model by checking the information on the PCB (see
Figure E.2).
• If you have received the wrong model or the EtherCAT® Option does not function
properly, contact your supplier.
 Contents and Packaging
Table E.3 Option Package Contents
Description:
Option Card
Ground Cable
Screws (M3)
Quantity:
1
1
3
Table E.4 Option Package Contents (cont’d)
Description:
LED Label
Installation Manual
MANUAL
RUN
L/A IN
Quantity:
ERR
L/A OUT
1
1
 Tool Requirements
A Phillips screwdriver PH1(#1) or PH2(#2) is required to install the EtherCAT® option.
Note: Tools required to prepare EtherCAT® cables for wiring are not listed in this
manual.
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YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
5 EtherCAT® Option Components
5
EtherCAT® Option Components
 EtherCAT® Option
Figure E.2
9
1
IN
4
Underside
OUT
5
SI-ES3
6
Looking from the connector
2
8 7
3
1 – Communication cable connector
(RJ45)
2 – Ground terminal (installation hole)
3 – Model number
4 – Installation hole
5
6
7
8
9
–
–
–
–
–
LED (RUN)
LED (ERR)
LED (L/A OUT)
LED (L/A IN)
Connector (CN5)
Option Card
Refer to EtherCAT® Option Status LEDs on page 12 for details on the LEDs.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 11
5 EtherCAT® Option Components
 Communication connector
The EtherCAT® Option is connected to the network using a RJ45 connector. The pin
assignment is explained in Table E.5.
Table E.5 Communication connector (RJ45)
EtherCAT® Connector
Pin
1
2
3
4
5
6
7
8
Housing
Signal
TD+
TDRD+
–
–
RD–
–
–
Description
Send data
Receive data
N.C. (Pins denoted as N.C. do not connect to any signal)
N.C. (Pins denoted as N.C. do not connect to any signal)
Receive data
N.C. (Pins denoted as N.C. do not connect to any signal)
N.C. (Pins denoted as N.C. do not connect to any signal)
Shield
 EtherCAT® Option Status LEDs
The EtherCAT® Option has four LEDs that indicate the communication status. The
indications conform with DS303, Part 3: Indicator Specification.
 LEDs L/A OUT and L/A IN: Ethernet Link/Activity 1 and 2
The Link/Activity indicators show the status of the physical link and show activity on the
link period
 RUN LED
A green lit EtherCAT® RUN LED indicates the status of the EtherCAT® network state
machine.
A red lit EtherCAT® RUN LED is only used by the NOID firmware loader, refer to
Table E.6.
 EtherCAT® ERROR indicator
The red EtherCAT® error LED indicates the presence of any errors.
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YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
5 EtherCAT® Option Components
Table E.6 UNDERSTANDING THE STATUS LEDS
LED
Color
Display
-
Continuously Off
Link Activity 1/2
Green
-
Continuously On
Flickering
Continuously Off
Blinking
Green
RUN
Single flash
Continuously On
Red
Blinking
(1 Hz or 6 Hz)
Continuously Off
Blinking
Single flash
Double flash
ERR
Red
Continuously On
Blinking
(1 Hz or 6 Hz)
Meaning
No link. The communication cable is not physically
connected. The EtherCAT® controller is not started up.
The module is connected to Ethernet. A
communication cable is physically connected, but no
data are being exchanged.
There is traffic on Ethernet, data are being exchanged
The device is in Init state
The device is in Pre-Operational State (flashing rate
about 2.5 Hz)
The device is in Safe-Operational State (one short flash
(approximately 200 ms) followed by a long off
condition (approximately 1000 ms)
The device is in Operational State
The Option BOOT or APP firmware is executing the
NOID firmware loader.
1 Hz: Firmware loader protocol in IDLE state (waiting
for commands from the drive)
6 Hz: Firmware loader protocol is processing
commands.
No link. The EtherCAT® communication is in working
condition.
General configuration error
The slave device application has changed the
EtherCAT® state autonomously: The parameter
"Change" in the AL status register is set to 0x01:
change/error. Single flash is one short flash
(approximately 200 ms) followed by a long off phase
(approximately 1000 ms).
The sync manager watchdog timeout has occurred.
Double flash is two short flashes (approximately 200
ms each), separated by an off condition (approximately
200 ms), and then a long off phase (approximately
1000 ms)
Possible causes:
1. An EtherCAT® PDI (Process Data Interface) error has
occurred, the NOID application interface has failed.
2. An option card FATAL event has occurred (system
has stalled execution, see EtherCAT® vendor object
0x4000 for the cause).
The option BOOT or APP firmware is executing the
NOID firmware loader.
1Hz: Firmware loader protocol in IDLE state (waiting
for commands from drive)
6Hz: Firmware loader protocol is processing
commands.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 13
5 EtherCAT® Option Components
Figure E.3 explains the indicator flash rates.
Figure E.3
LED Flash Rates and Meaning
EN 14
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
5 EtherCAT® Option Components
 DSP402 functionality
This part manages the DSP402 drive profile functionality in the option and converts the
control/status data into drive specific control/status data.
 Vendor specific CANopen objects
This part integrates the vendor specific CANopen object model into EtherCAT®.
 Error management
This part processes drive and EtherCAT® specific errors and assures that all faults process
and propagate properly to the drive/EtherCAT® network.
 EtherCAT® processing stack
The "EtherCAT® Slave example code" from the EtherCAT® technology group (ETG) is used
as a main base in this project. It is internally adopted to fit the product.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 15
6 Installation Procedure
6
Installation Procedure
 Section Safety
DANGER
Electric Shock Hazard
Power to the drive must be shut off when installing this option card.
Even though the power has been shut off, voltage still remains in the drive’s DC bus. Wait before
removing the front cover once the drive has been turned off.
The CHARGE light on the drive will go out after voltage in the DC bus drops below 50 V, at
which point it is safe to remove the front cover.
Due to the risk of electric shock, be sure that all LEDs have gone out and that the DC bus voltage
has reached a safe level prior to performing any work on the drive.
WARNING
Electrical Shock Hazard
Do not remove the front cover of the drive while the power is on.
Failure to comply could result in death or serious injury.
The diagrams in this section may include drives without covers or safety shields to show details.
Be sure to reinstall covers or shields before operating any devices. The option board should be
used according to the instructions described in this manual.
Do not allow unqualified personnel to use equipment.
Failure to comply could result in death or serious injury.
Maintenance, inspection, and replacement of parts must be performed only by authorized
personnel familiar with installation, adjustment, and maintenance of this product.
Do not touch the option card while the power supply to the drive is switched on.
Failure to comply could result in death or serious injury.
Do not use damaged wires, place excessive stress on wiring, or damage the wire insulation.
Failure to comply could result in death or serious injury.
NOTICE
Damage to Equipment
Observe proper electrostatic discharge procedures (ESD) when handling the option card,
drive, and circuit boards.
Failure to comply may result in ESD damage to circuitry.
Never shut the power off while the drive is outputting voltage.
Failure to comply may cause the application to operate incorrectly or damage the drive.
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6 Installation Procedure
NOTICE
Do not operate damaged equipment.
Failure to comply may cause further damage to the equipment.
Do not connect or operate any equipment with visible damage or missing parts.
Tighten all terminal screws to the specified tightening torque.
Loose electrical connections could result in death or serious injury by fire due to overheating of
electrical connections.
Do not use unshielded cable for control wiring.
Failure to comply may cause electrical interference resulting in poor system performance.
Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive.
Properly connect all pins and connectors.
Failure to comply may prevent proper operation and possibly damage equipment.
Check wiring to ensure that all connections are correct after installing the option card and
connecting any other devices.
Failure to comply may result in damage to the option card.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 17
6 Installation Procedure
 Prior to Installing the Option Card
Prior to installing the EtherCAT® Option, wire the drive and make necessary connections to
the drive terminals. For more information on wiring and connecting the drive, refer to the
manual packaged with the drive. Verify that the drive runs normally without the option
installed.
 Installing the Option
1.
Shut off power to the drive, wait the appropriate amount of time for voltage to
dissipate, then remove the operator (I) and front cover (K). Refer to the drive
manual for direction on removing the front cover.
2. Insert the CN5 connector on the option (E) into the CN5-A connector on the drive
(C), then fasten it into place using one of the screws included with the option.
Connect the ground wire (G) to the ground terminal (D) using one of the
screws provided with the option.
Note: There are only two screw holes on the drive for ground terminals. If three option
cards are connected, two of the ground wires will need to share the same ground
terminal.
Figure E.4
1
2
5
6
3
9
4
RUN
L/A IN
ERR
L/A OUT
10
7
8
11
EN 18
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
6 Installation Procedure
1 – Connector CN5-C
2 – Connector CN5-B
3
4
5
6
–
–
–
–
Connector CN5-A
Drive grounding terminal (FE)
Insert connector CN5 here
Option card
7 – Ground wire
8 – Use with cutters to create an
opening for cable lines
9 – Operator
10 – LED label
11 – Front cover
Installing the Option Card
3.
Prepare RJ45 network cable connectors.
In the drives CIMR-A2A0004 to 0040 and 4A0002 to 0023 the network
cable must be routed to the outside through the drive top cover. Use a pair
of diagonal cutters to cut out the perforated openings at the left side of the
top cover. Make sure no sharp edges that can damage the cable remain.
Drives 2A0056 to 0211, and 4A0031 to 0165 have enough space to keep
all wiring inside the unit.
Figure E.5
1
2
1 – Opening for network cables
(CIMR-A2A0004 to 0040,
4A0002 to 0023)
2 – Space for wiring
(CIMR-A2A0056 to 0211,
4A0031 to 0165)
Wiring Routing
4. Plug in the RJ45 network cable connector into the option.
5. Reinstall the front cover back onto the drive as it was before.
Note: 1. Take care when wiring the option card so that the front cover easily fits back
onto the drive.
2. Install Cable Cover option to maintain the drive Enclosure Type integrity.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 19
6 Installation Procedure
6.
7.
8.
Attach the LED label (J) packaged with the option as shown in Figure E.4.
Switch on the drive power supply.
An “AEr” Alarm message indicating that the node address is set to 0 will
appear on the drive display. Set the node address in parameter F6-35. Set
the communication speed in parameter F6-36.
Cycle the power supply to activate the changed settings. Installation complete.
 Communication Cable Specifications
To ensure proper performance, YASKAWA recommends using EtherCAT® dedicated Cat5e
communication cables.
 Network Termination
The EtherCAT® network does not require a termination resistor if the drive is the last node in
the network. Network termination is realized by the ASIC of the EtherCAT® option card.
 ESI File
For easy network implementation of drives equipped with an EtherCAT® Option, the ESI
file can be obtained from:
Europe: http://www.yaskawa.eu.com
Japan: http://www.e-mechatronics.com
USA: http://www.yaskawa.com
Other areas: contact a YASKAWA representative
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YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
6 Installation Procedure
 Identification of Drive Firmware Version
1. Read out firmware version from drive digital operator.
Check monitor parameter U1-25 when the drive is switched ON. The display shows the last
four digits of the firmware version and the value should be in the range of 1017 ~ 1099.
2. Verifying firmware version on drive nameplate
Figure E.6
Normal Duty Amps / Heavy Duty Amps
AC drive model
Input specifications
Output specifications
Lot number
Serial number
CIMR-AC2A0021FAA
MODEL :
MAX APPLI. MOTOR : 5.5kW / 3.7kW REV : A
INPUT : AC3PH 200-240V 50/60Hz 24A/18.9A
OUTPUT : AC3PH 0-240V 0-400Hz 21A/17.5A
MASS : 3.5 kg
PRG : 1010
:
O/N
:
S/N
FILE NO : E131457
TYPE 1 ENCLOSURE
IP20
YASKAWA ELECTRIC CORPORATION
IND.CONT.EQ.
7J48 B
Firmware version
PASS
MADE IN JAPAN
Enclosure type
Verifying firmware version on drive nameplate
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 21
7 EtherCAT® Option Related Drive Parameters
7
EtherCAT® Option Related Drive Parameters
The drive parameters listed in Table E.7 have influence on some functions of the SI-ES3
option card. Check these parameters before starting network communications.
Table E.7 Parameter Settings
No.
Name
b1-01
<1>
Frequency
Reference
Selection
b1-02
<1>
Run Command
Selection
E2-04
<2>
Motor 1 Motor
Poles
F6-01
Operation
Selection after
Communications
Error
F6-02
External Fault
Detection
Conditions (EF0)
F6-03
Stopping Method
for External Fault
from
Communication
Option Board
F6-06
<4>
F6-07
EN 22
Torque Reference/
Torque Limit
selection from
Communications
Option
NetRef/ComRef
Selection Function
Description
Selects the frequency reference input source
0: Operator - Digital preset speed d1-01 to d1-17
1: Terminals - Analog input terminals
2: MEMOBUS/Modbus communications
3: Option card
4: Pulse Input (Terminal RP)
Selects the run command input source
0: Digital Operator - RUN and STOP keys
1: Digital input terminals S
2: MEMOBUS/Modbus communications
3: Option card
Set the number of motor poles described on the motor nameplate.
2 to 48
Determines drive response when a bUS error is detected during
communications with the EtherCAT® Option
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only <3>
Sets the condition for external fault detection (EF0)
0: Always detected
1: Detected only during operation
Determines drive response for external fault input (EF0) detection during
EtherCAT® communication
0: Ramp to Stop
1: Coast to Stop
2: Fast-Stop
3: Alarm Only <3>
Default
<6>
1
4
1
0
1
0: Torque reference/torque limit via network communications are
disabled.
1: Torque reference/torque limit via network communications are
enabled. <5>
0
0: Multi-step speed reference disabled (F7 mode)
1: Multi-step speed reference allowed (V7 mode)
0
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
7 EtherCAT® Option Related Drive Parameters
No.
Name
F6-08
Reset
Communication
Related
Parameters
o1-03
<7>
Digital Operator
Display Selection
Description
Determines if communication-related parameters are set back to their
original default values when the drive is initialized.
0: Do not reset F6- and F7- parameters when the drive is
initialized using parameter A1-03.
1: Rest F6- and F7- parameters when the drive is initialized using
parameter A1-03.
Note:
Setting this parameter does not affect communicationrelated parameters. Setting this parameter only determines
if communication-related parameters (F6- and F7) are also reset when A1-03 is used to initialize the
drive.
Sets the units to display the frequency reference and output frequency.
0: 0.01 Hz
1: 0.01% (100% = E1-04)
2: r/min (enter the number of motor poles to E2-04/E4-04/E5-04)
3: User defined by parameters o1-10 and o1-11
Default
0
<6>
<1> To start and stop the drive from an EtherCAT® master device using serial communications, set b1-02
to 3. To control the frequency reference of the drive via the master device, set b1-01 to 3.
<2> E2-04 is necessary to set up when the Drive Profile DSP402 objects are used.
<3> If set to 3, then the drive will continue to operate when an EF0 fault is detected. Take proper safety
measures, such as installing an emergency stop switch.
<4> This parameter might not appear in certain drives. Furthermore its availability is limited to
depending on the control mode selection. For details refer to the technical manual for the drive the
option card is used with.
<5> If the drive is set to receive the torque reference/limit from the network (F6-06 = 1) make sure the
value is set appropriately by the controller. If no torque reference/limit value is entered the motor
will not produce torque.
<6> The default value depends on the drive used and/or the drive software version. For details refer to
the technical manual for the drive.
<7> Changing o1-03 changes the units for input object 2010 (Hex) (frequency reference), output object
2110 (Hex) (output frequency) and 2200 (Hex) (motor speed). Furthermore o1-03 must be set to 2
and E2-04 must be set to the correct value in order to use the Drive Profile DSP402.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 23
8 Object Dictionary
8
Object Dictionary
 Object Dictionary Overview
The Object Dictionary consists of three sections:
• Communication Profile Objects
• Manufacturer Specific Profile Objects
• Drive and Motion Profile Objects
The tables below give an overview of the communication objects available in the SI-ES3
option. Refer to the page references given for further details on each object.

Communication Profile Objects (DSP 301)
Index (Hex)
1000
1001
1003
1008
1009
100A
1010
1011
1018
1600 - 1628
1A00 - 1A28
1C00
1C12
1C13
EN 24
Name
Device Type
Error Register
Pre-defined Error Field
Manufacturer Device Name
Manufacturer Hardware Version
Manufacturer Software Version
Store Parameters
Restore Default Parameters
Identity Object
Receive PDO Mapping
Tranmit PDO mapping
Sync Manager Communication Type
Sync Manager RxPDO assign
Sync Manager TxPDO assign
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
8 Object Dictionary

Manufacturer Specific Profile Objects (DS 301)
Index (Hex)
2000
2010
2020
2030
2040
2050
2060
2070
2080
Input
2090
20A0
20B0
20C0
20D0
20E0
20F0
3000
3100
2100
2110
2120
2130
2140
2150
2155
2160
2180
2190
21A0
21B0
Output
21C0
21E0
21D0
21F0
2200
2210
2220
2240
2260
2270
4000
4001
Content
Operation Command
Speed Command
Torque Limit
Torque Compensation
MEMOBUS/Modbus Read Command
MEMOBUS/Modbus Write Command
MEMOBUS/Modbus Unlimited Enter Command
MEMOBUS/Modbus Limited Enter Command
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
FM analog output 1
AM analog output 2
Multi-function DO output
Selectable (default: none)
Selectable (default: none)
Drive Status
Output Frequency
Output Current
Output Torque
MEMOBUS/Modbus Read Command Response
MEMOBUS/Modbus Write Command Response
PDO Parameter Write Response
MEMOBUS/Modbus Not Limited Enter Command Response
Selectable (default: Input terminal status)
Selectable (default: Analog input 1 monitor)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Selectable (default: none)
Motor Speed
DC Bus Voltage
Analog input monitor A1
Analog input monitor A2
Analog input monitor A3
Inverter DI Input
Option NVS FATAL Record
Option Info + Status Record
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 25
8 Object Dictionary

Drives and Motion Profile Objects (DSP 402)
Object Type Index (Hex)
60FD
Common
Entries
60FE
6040
6041
Device
Control
6060
6061
6042
6043
6044
6046
Velocity
6048
Mode
6049
604A
604C
604D
EN 26
Name
Digital Inputs
Digital Outputs
Controlword
Statusword
Modes of operation
Modes of operation display
vl target velocity
vl velocity demand
vl control effort
vl velocity min max amount
vl velocity acceleration
vl velocity deceleration
vl velocity quick stop
vl dimension factor
vl pole number
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
9 Process Data Objects (PDO)
9
Process Data Objects (PDO)
PDOs (Process Data Object) will be used for I/O exchange. PDOs are mapped to objects
during configuration (PRE-OPERATIONAL state).
TxPDOs are used to transfer data from the option card and RxPDOs are used to transfer data
to the option card.
The module supports at least 8 parameters mapped to RxPDO and 8 parameters mapped to
TxPDO.
 PDOs and Default PDO Setup
The drive supports 15 Receive and 16 Transmit PDOs. The tables below show available
PDOs, their default settings and the objects required to set up when changing the PDO
configuration or the PDO mapping.
 Transmit PDOs (TxPDO)
The Transmit PDOs have a default mapping according to the table below. The transmit
PDOs can be re-mapped by the end user by writing to map objects 0x1A00-0x1A28, please
see page 24.
PDO number
1
2
6
7
21
22
23
24
25
26
36
37
38
39
40
41
Transmit PDO Mapping
Mapped objects (Hex)
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6061#0, 2-bytes, (DSP402 Modes of operation display)
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6044#0, 2-bytes, (vl control effort)
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x60FD#0, 4-bytes, (Digital inputs)
Sub-index 1: 0x6042#0, 2-bytes (vl target velocity)
Sub-index 1: 0x6043#0, 2-bytes (vl velocity demand)
Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)
Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)
Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)
Sub-index 1: 0x2100#1, 2-bytes (Drive status)
Sub-index 1: 0x2110#1, 2-bytes (Output frequency)
Sub-index 1: 0x2120#1, 2-bytes (Output current)
Sub-index 1: 0x2130#1, 2-bytes (Output torque reference)
Sub-index 1: 0x2140#1, 2-bytes (MEMOBUS/Modbus read response)
Sub-index 1: 0x2150#1, 2-bytes (MEMOBUS/Modbus write response)
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
Index (Hex)
0x1A00
0x1A01
0x1A05
0x1A06
0x1A14
0x1A15
0x1A16
0x1A17
0x1A18
0x1A19
0x1A23
0x1A24
0x1A25
0x1A26
0x1A27
0x1A28
EN 27
9 Process Data Objects (PDO)
 Receive PDOs (RxPDO)
The Receive PDOs have a default mapping according to the table below. The end user can
re-map Receive PDOs by writing to the map objects 0x1600-1628, refer to
n Communication Profile Objects (DSP 301).
PDO number
1
2
6
7
8
21
22
23
24
36
37
38
39
40
41
EN 28
Receive PDO Mapping
Mapped objects (Hex)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6042#0, 2-bytes, (vl target velocity)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x60FE#1, 4-bytes, (Physical digital outputs)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)
Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)
Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)
Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)
Sub-index 1: 0x2000#1, 2-bytes (Operation command)
Sub-index 1: 0x2010#1, 2-bytes (Speed reference/limit)
Sub-index 1: 0x2020#1, 2-bytes (Torque reference/limit)
Sub-index 1: 0x2030#1, 2-bytes (Torque compensation)
Sub-index 1: 0x2040#1, 4-bytes (MEMOBUS/Modbus read request)
Sub-index 1: 0x2050#1, 4-bytes (MEMOBUS/Modbus write request)
Index (Hex)
0x1600
0x1601
0x1605
0x1606
0x1607
0x1614
0x1615
0x1616
0x1617
0x1623
0x1624
0x1625
0x1626
0x1627
0x1628
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
10 Fault Diagnosis and Possible Solutions
10
Fault Diagnosis and Possible Solutions
 EtherCAT® Option Card Error Codes
The following error codes will be shown in object 1003, subindex 01 if the correspondent
error occurred on the drive.

Inverter and CANopen/EtherCAT® Faults
 Emergency Object (EMCY)
The emergency object is used for sending fault information from the communication module
to the CANopen/EtherCAT® network.
The emergency object is triggered by a fault event from the host or the option card itself. An
emergency object is transmitted only once per 'error event'.
Emergency error codes are specified for a number of events. Emergency word specification:
Table E.8 Emergency Word Specification
Byte
Content
0
1
Emergency
error code
Error
register
object
0x1001
2
3
4
5
6
7
Manufacturer specific error info. Not used. Set to zero.
 Emergency Messages, DSP301 & DSP402
The error codes specified in the list below can be read from CANopen object 0x1003 (Predefined error field)
Table E.9 Error Codes
Error Code (Hex)
Meaning
Drive Display
INVR:0x0080
Enum Value
No error
0x00
0000
No error
3220
DC bus undervoltage
Uv1
0x02
5200
Control power supply undervoltage
Uv2
0x03
3221
DC bus charging circuit fault
Uv3
0x04
2330
Ground fault
GF
0x06
2220
Over current
oC
0x07
3210
DC bus overvoltage
ov
0x08
4280
Heatsink overheat
oH
0x09
4210
Heatsink overheat
oH1
0x0A
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 29
10 Fault Diagnosis and Possible Solutions
Error Code (Hex)
EN 30
Meaning
Drive Display
INVR:0x0080
Enum Value
2310
Motor overload
oL1
0x0B
2221
Drive overload
oL2
0x0C
2311
Overtorque detection 1
oL3
0x0D
2312
Overtorque detection 2
oL4
0x0E
5420
Braking transistor fault
rr
0x0F
4410
Internal braking resistor overheat
rH
0x10
5441
External fault 3
EF3
0x11
5442
External fault 4
EF4
0x12
5443
External fault 5
EF5
0x13
5444
External fault 6
EF6
0x14
5445
External fault 7
EF7
0x15
5480
External fault 8
EF8
0x16
FF17
Cooling FAN fault
FAn
0x17
7180
Motor over speed (control mode using PG)
oS
0x18
8321
Speed deviation (control mode using PG)
dEv
0x19
7305
PG fault (control mode using PG)
PGo
0x1A
3130
Input phase loss
PF
0x1B
3300
Output phase loss
LF
0x1C
FF01
Motor overheat alarm
oH3
0x1D
5300
Digital operator disconnected
oPr
0x1E
5530
EEPROM error
Err
0x1F
4310
Motor overheat (PTC input)
oH4
0x20
FF08
MEMOBUS/Modbus Error
CE
0x21
FF07
BUS error
bUS
0x22
FF06
Control fault
CF
0x25
8313
Zero servo fault
SvE
0x26
0x27
5481
Fault input from option card
EF0
FF02
PID feedback lost
FbL
0x28
FF03
Undertorque detected 1
UL3
0x29
FF04
Undertorque detected 2
UL4
0x2A
FF05
High slip braking OL
oL7
0x2B
6000
Hardware fault DPRAM
CPSDPRAM
0x30
FF31
Intermediary voltage fault
VCF
0x31
FF32
Z-phase pulse fall detection (Closed Loop
Vector for PM motors)
dv1
0x32
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
10 Fault Diagnosis and Possible Solutions
Error Code (Hex)
Meaning
Drive Display
INVR:0x0080
Enum Value
FF33
Z-phase noise fault detection (Closed Loop
Vector for PM motors)
dv2
0x33
FF34
Inversion detection (Closed Loop Vector for
PM motors)
dv3
0x34
FF35
Inversion prevention detection (Closed Loop
Vector for PM motors)
dv4
0x35
FF36
Output current imbalance
LF2
0x36
FF37
Pullout detection 2
STo
0x37
FF38
PG Disconnect
PGo
0x38
FF3B
Too many speed search restarts
SEr
0x3B
0x41
FF41
PID feedback loss
FbH
FF0D
External fault at input terminal S1
EF1
0x42
FF0E
External fault at input terminal S2
EF2
0x43
FF44
Mechanical weakening detection 1
oL5
0x44
FF45
Mechanical weakening detection 2
UL5
0x45
FF46
Current offset fault
CoF
0x46
FF47
Programming Error 1
PE1
0x47
dWFL
0x49
-
-
FF49
Current offset fault
6301
Error during object content selection
 SDO Abort Codes
SDO abort codes are supported as specified in DS301. Additionally the abort codes listed
below are implemented.
Table E.10 SDO Abort Codes
SDO Abort Code
0602 0010 (Hex)
0602 0022 (Hex)
Description
Consecutive MEMOBUS/Modbus Read/Write/Enter commands are send
but the wait time between messages is too short.
A MEMOBUS/Modbus Read or Write Response (2140 (Hex) and 2150
(Hex)) was attempted but no or an incorrect MEMOBUS/Modbus address
has been written to object 2040 (Hex) or 2050 (Hex) before.
A MEMOBUS/Modbus write request has been sent during DC bus under
voltage.
Drive Profile DSP402 is used and a value is written to object 6042 (Hex) (vl
Target Velocity) while the drive status is not “Operation Enable”.
Object 2155 (Hex) is tried to be read while the SI-ES3 option is not in
“Operational” state.
A MEMOBUS/Modbus Read or Write command (2040 (Hex) and 2050
(Hex)) was performed with an invalid MEMOBUS/Modbus address.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 31
10 Fault Diagnosis and Possible Solutions
 Drive-Side Error Codes
Drive-side error codes appear on the drive’s digital operator. Causes of the errors and
corrective actions are listed in Table E.11 and Table E.9. For additional error codes, refer to
the technical manual for the drive.
The bUS (EtherCAT® Option Communication Error) and EF0 (External Fault Input from the
EtherCAT® Option) may appear as an alarm or a fault. If they occur as an alarm, the "ALM"
LED on the drive digital operator will blink and the alarm code will flash in the display.
When these occur as a fault, the “ALM” LED will light and the display will show the fault
code.
If communication stops while the drive is running, check the following items:
• Is the EtherCAT® Option properly installed?
• Is the communication line properly connected to the EtherCAT® Option? Is it loose?
• Is the controller program working? Has the controller CPU stopped?
• Did a momentary power loss interrupt communications?
EN 32
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
10 Fault Diagnosis and Possible Solutions
 Faults
Table E.11 lists possible faults when using a communication option. The drive’s fault
contact will close if one of these faults occur.
Table E.11 Fault Display and Possible Solutions
Digital Operator Display
bUS
Cause
Master controller (PLC) has stopped
communicating.
Communication cable is not connected
properly.
A data error occurred due to noise.
EtherCAT® Option is damaged.
Digital Operator Display
EF0
Fault Name
EtherCAT® Option Communication Error
After establishing initial communication, the connection was lost.
Only detected when the run command or frequency reference is
assigned to the option (b1-01=3 or b1-02=3).
Possible Solution
Check for faulty wiring.
 Correct any wiring problems.
Check the various options available to minimize the effects of noise.
 Take steps to counteract noise in the control circuit wiring, main
circuit lines, and ground wiring.
 If a magnetic contactor is identified as a source of noise, install a
surge absorber to the contactor coil.
 Make sure the cable used fulfills the EtherCAT® requirements.
Ground the shield on the controller side and on the EtherCAT® Option
side.
 If there are no problems with the wiring and the error continues to
occur, replace the EtherCAT® Option.
Fault Name
External Fault Input from EtherCAT Option
The alarm function for an external device has been triggered.
Cause
Possible Solution
 Remove the cause of the external fault.
An external fault is being sent from the upper
 Reset the external fault input from the upper controller (PLC)
controller (PLC).
device.
Problem with the upper controller (PLC)
 Check the program used by the upper controller (PLC) and make
program.
the appropriate corrections.
Digital Operator Display
oFA00
Cause
Non-compatible option connected to the
drive.
Fault Name
EtherCAT Option Card Fault
The drive does not support the option board plugged in.
Possible Solution
 Check the drive option board compatibility. Replace the option card
if the fault persists even though the drive should support it.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 33
10 Fault Diagnosis and Possible Solutions
Digital Operator Display
oFA01
Cause
Problem with the connectors between the
drive and EtherCAT® Option.
Digital Operator Display
to
oFA30 to oFA43
Cause
Option card hardware fault
Fault Name
EtherCAT Option Card Fault
Option card is not properly connected.
Possible Solution
 Turn the power off and check the connectors between the drive and
EtherCAT® Option.
Fault Name
EtherCAT Option Card Fault
Communication ID error
Possible Solution
 Replace the EtherCAT® Option. Contact YASKAWA for assistance.
Digital Operator Display
oFb00
Fault Name
Option Card Fault at Connector CN5-B
Non-compatible option card is connected.
Possible Solution
Cause
The EtherCAT® option card has been plugged
 Always use option port CN5-A for communication option cards.
into option port CN5-B.
Digital Operator Display
oFb02
Cause
Two or more input option cards (analog,
digital or communication) have been
connected to the drive at the same time.
Digital Operator Display
oFc00
Fault Name
Option Card Fault at Connector CN5-B
Two of the same option cards are connected at the same time.
Possible Solution
 Use either an analog input option AI-A3 or a digital input option
DI-A3 or a communication option card. Never use two of these cards at
the same time.
Fault Name
Option Card Fault at Connector CN5-C
Non-compatible option card is connected.
Possible Solution
Cause
The EtherCAT® option card has been plugged
 Always use option port CN5-A for communication option cards.
into option port CN5-C.
Digital Operator Display
oFc02
Cause
Two or more input option cards (analog,
digital or communication) have been
connected to the drive at the same time.
EN 34
Fault Name
Option Card Fault at Connector CN5-C
Two of the same option cards are connected at the same time.
Possible Solution
 Use either an analog input option AI-A3 or a digital input option
DI-A3 or a communication option card. Never use two of these cards at
the same time.
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
10 Fault Diagnosis and Possible Solutions
 Option board error management
This section describes the errors managed by the option board and the linked actions taken.
Table E.12 Option Board Error Management
Option Error
OPSAFEOP/PREOP
when Drive running
Description
If the EtherCAT
watchdog timeout is
enabled (Default in
OPSAFEOP
native XML description
1. EtherCAT WD timeout file) and output data
from PLC to the drive
isn't updated in time an
error will be trigged
OPSAFEOP
1. Drive FCS error
2. Drive COMID error
Error Indication
Possible Solution
BUS error is triggered in
When an EtherCAT state drive.
• Check and correct
transition from OP 
Note: Error against drive
state machine
SAFEOP/PREOP was
will be cleared when the
transitions in control
made when the drive
next lower to higher
word.
was in OPERATION
EtherCAT state
enabled.
transition is made.
1. Drive has detected a
Sum check error
2. Drive has detected a
Communication Option
ID error
Possible cause:
1. Option card is
overloaded.
2. Option is not properly
processing the state.
1. Option card has
detected a Sum check
error
OPSAFEOP
2. Option card has
detected a Communica1. Option card FCS error tion Option card ID error
2. Option card COMID Possible cause:
error
1. Drive system is
overloaded.
2. Drive is not properly
processing the state.
• Check network
connection (e.g. if
cables plugged in at
each node)
Note: Error against drive
will be cleared when the • Check telegram
timing. Are
next lower to higher
telegrams sent to the
EtherCAT state
slave the error
transition is made.
occurred on?
BUS error is triggered in
drive.
1. Drive fault: OFx32
2. Drive fault: OFx30
1. Drive fault: OFx32
2. Drive fault: OFx30
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
1+2 Actions:
a. Disable process
data OUT sync
manager channel
b. Force EtherCAT
state change to
SAFE_OP
1+2 Actions:
a. Disable process
data IN sync manager
channel
b. Force EtherCAT
state change to
SAFE_OP
EN 35
10 Fault Diagnosis and Possible Solutions
Option Error
Description
Possible cause:
Initial power-up sequence Drive is not processing
not completed within 10 the internal interface
protocol.
seconds
Drive does not support
EtherCAT option card
I/F proc timeout
Option card has not processed any drive system
frames in 1000 ms.
Possible cause:
Drive has stopped
serving the internal
interface to option card
or HW failure.
Option ID Error: Power- Drive reported invalid
up sequence copyright copyright string in
power-up process
string mismatch.
EN 36
Error Indication
Possible Solution
Drive fault: OFx00
Option will log FATAL
event record in NVS
memory and set ERR
LED: solid RED, see
Table E.6
Actions:
1. Check drive
firmware version as
described on page 21.
2. If drive firmware
version is correct,
replace option card.
3. Replace the drive.
Option will log FATAL
event record in NVS
memory, and set ERR
LED: solid RED, see
Table E.6
• Force EtherCAT
state to INIT
Option will log FATAL
event record in NVS
memory, and set ERR
LED: solid RED, see
Table E.6
• Replace option card
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
10 Fault Diagnosis and Possible Solutions
 Minor Faults and Alarms
Table 6 lists up alarms that might occur during operation using a communication option
board. If a multi function digital output of the drive is programmed for H2- = 10, the
output will close if these alarms occur.
Digital Operator Display
CALL
Cause
Communication wiring is faulty, there is a
short circuit, or something is not connected
properly.
Programming error on the master side
Communication circuitry is damaged.
Minor Fault Name
Serial Communication Transmission Error
Communication has not yet been established.
Possible Solution
Check for wiring errors.
 Correct the wiring.
 Remove and ground shorts and reconnect loose wires.
 Check communications at start-up and correct programming errors.
 Replace the drive if the fault continues to occur.
Digital Operator Display
Minor Fault Name
EEPROM Error
EEPROM checksum error
Cause
Possible Solution
Communication wiring is faulty, there is a
Check for wiring errors.
short circuit, or something is not connected
 Correct the wiring.
properly.
 Remove and ground shorts and reconnect loose wires.
If these errors occur, the object dictionary will be reset to its default
values.
 After the object dictionary has been changed and object dictionary
contents are then changed, execute a Store Parameter command (Index
EEPROM checksum error
= 1010 (Hex)).
 If the object dictionary has not been changed, execute a Restore
Parameter command (Index = 1011 (Hex)).
EEP
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 37
11 Specifications
11
Specifications
 Specifications
Table E.13 Option Card Specifications
Items
Specifications
SI-ES3
DS 301 Ver. 4.02
DSP 402 Ver. 1.1 Velocity Mode
RJ45 connector
10/100 MBbps
–10 C to +50 C
up to 95% RH (no condensation)
–20 C to +60 C (allowed for short-term transport of the product)
Indoor (free of corrosive gas, airborne particles, etc.)
up to 1000 m
Model
Communication Profile
Connector
Communications Speed
Ambient Temperature
Humidity
Storage Temperature
Area of Use
Altitude
 Internal Scan Cycle
A1000: 1 ms
 Revision History
The revision dates and the numbers of the revised manuals appear on the bottom of the back
cover.
MANUAL NO.‫ޓ‬YEU TOEP C710616 99A
Published in Germany
July 2011 11-7
Date of
publication
Date of Publication
July 2011
EN 38
Revision Number

Date of original
publication
Section

Revised Content
First Edition
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
11 Specifications
YASKAWA Europe YEU TOEP C710616 99A - A1000 Option EtherCAT - Installation Manual
EN 39
YASKAWA AC Drive A1000 Option
Installation Manual
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YASKAWA Europe GmbH
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2011 YASKAWA Europe GmbH. All rights reserved.
MANUAL NO. YEU TOEP C710616 99A
Published in Germany July 2011 11-7